Environments

Our datasets are collected in four main scene:5m×5m×2.5m testing room with Vicon ’ Room’, 8m×12m×5m hall of office with Vicon in part of it ’ Hall’, 20m×20m open square outdoors ’ OutSquare’, and 50m2 area near the building outdoors ’ OutBuilding’.

Flight trajectories of datasets in indoor and outdoor scene are shown as following figure. where left one for indoor and right one for outdoor.